EP0145007A3 - Schleifroboter mit Wiederholsystem - Google Patents

Schleifroboter mit Wiederholsystem Download PDF

Info

Publication number
EP0145007A3
EP0145007A3 EP84115111A EP84115111A EP0145007A3 EP 0145007 A3 EP0145007 A3 EP 0145007A3 EP 84115111 A EP84115111 A EP 84115111A EP 84115111 A EP84115111 A EP 84115111A EP 0145007 A3 EP0145007 A3 EP 0145007A3
Authority
EP
European Patent Office
Prior art keywords
arm
data
abrasive tool
time
grinding robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP84115111A
Other languages
English (en)
French (fr)
Other versions
EP0145007A2 (de
Inventor
Isamu Komatsu
Kenkicki Serizawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aida Engineering Ltd
Original Assignee
Aida Engineering Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP23333283A external-priority patent/JPS60124706A/ja
Priority claimed from JP23932983A external-priority patent/JPS60131158A/ja
Priority claimed from JP7971584A external-priority patent/JPS60228064A/ja
Application filed by Aida Engineering Ltd filed Critical Aida Engineering Ltd
Publication of EP0145007A2 publication Critical patent/EP0145007A2/de
Publication of EP0145007A3 publication Critical patent/EP0145007A3/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B17/00—Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B17/00—Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor
    • B24B17/10—Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor involving electrical transmission means only, e.g. controlled by magnetic tape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35354—Polar coordinates, turntable
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36043—Correction or modification of program
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36471—Recording speed different from playback speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49381—Raster, line servo, area machining, cutting, facing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S700/00—Data processing: generic control systems or specific applications
    • Y10S700/90—Special robot structural element

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Numerical Control (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
EP84115111A 1983-12-10 1984-12-10 Schleifroboter mit Wiederholsystem Withdrawn EP0145007A3 (de)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP233332/83 1983-12-10
JP23333283A JPS60124706A (ja) 1983-12-10 1983-12-10 プレ−バツクロボツト
JP23932983A JPS60131158A (ja) 1983-12-19 1983-12-19 研磨ロボツト
JP239329/83 1983-12-19
JP79715/84 1984-04-20
JP7971584A JPS60228064A (ja) 1984-04-20 1984-04-20 研磨装置

Publications (2)

Publication Number Publication Date
EP0145007A2 EP0145007A2 (de) 1985-06-19
EP0145007A3 true EP0145007A3 (de) 1987-09-02

Family

ID=27303086

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84115111A Withdrawn EP0145007A3 (de) 1983-12-10 1984-12-10 Schleifroboter mit Wiederholsystem

Country Status (4)

Country Link
US (1) US4706004A (de)
EP (1) EP0145007A3 (de)
KR (1) KR880002336B1 (de)
AU (1) AU3583084A (de)

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JPS60193016A (ja) * 1984-03-14 1985-10-01 Toyota Motor Corp ロボツト装置
DD231758B1 (de) * 1984-08-21 1987-10-08 Ve Wissenschaftlich Tech Betri Vorrichtung zum entgraten ungebrannter keramischer formlinge
DE3704505A1 (de) * 1987-02-13 1988-08-25 Leybold Ag Einlegegeraet fuer vakuumanlagen
US4884941A (en) * 1987-03-30 1989-12-05 Regents Of The University Of Minnesota Active compliant end-effector with force, angular position, and angular velocity sensing
SE8702266D0 (sv) * 1987-06-01 1987-06-01 Cme Const Mining Equip Ab Anordning for slipning av foretredesvis borrkronor
US4802569A (en) * 1987-06-12 1989-02-07 Aidlin Automation Corp. Two station robotic welder
SE462901B (sv) * 1988-10-17 1990-09-17 Constr Mining Equip Cme Anordning foer slipning av stiften paa borrkronor
JPH02161503A (ja) * 1988-12-14 1990-06-21 Mitsubishi Heavy Ind Ltd ロボットにおける教示位置データの修正・再生方法
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
JP2815606B2 (ja) * 1989-04-25 1998-10-27 株式会社トキメック コンクリート床仕上ロボットの制御方式
DE69116901T2 (de) * 1990-02-27 1996-07-18 Toshiba Kawasaki Kk Robotersteuerung
IT1242582B (it) * 1990-10-05 1994-05-16 Intermac Srl Procedimento per la lavorazione in automatico a filo lucido del bordo di lastre di vetro di forma qualsiasi e macchina per la esecuzione di tale procedimento.
JP2706186B2 (ja) * 1991-06-25 1998-01-28 キヤノン株式会社 多関節型ロボットのアーム原点の較正方法
US5231803A (en) * 1992-04-13 1993-08-03 Minnesota Mining And Manufacturing Company Automated random orbital abrading method
JP2722295B2 (ja) * 1992-05-22 1998-03-04 ファナック株式会社 小軌跡加工装置
IT1272084B (it) * 1993-12-17 1997-06-11 Comau Spa Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse
FR2717725B1 (fr) * 1994-03-25 1996-06-14 Reynard Sarl Ets Albert Machine de meulage pour tailler un tranchant de lames d'outils, couteaux notamment.
GB2319097B (en) * 1994-06-17 1998-07-01 Komatsu Mfg Co Ltd Robot control system
JP4091124B2 (ja) * 1996-11-26 2008-05-28 ファナック株式会社 動作経路シミュレーション機能を有するロボット制御装置
US6119918A (en) * 1999-02-03 2000-09-19 Industrial Technology Research Institute Solder head control mechanism
IT1312398B1 (it) * 1999-05-05 2002-04-17 Vortex Systems Srl Manipolatore industriale ad alta velocit{
JP4423719B2 (ja) * 1999-10-28 2010-03-03 株式会社安川電機 ロボットおよびロボットの制御方法
WO2002004169A2 (en) * 2000-07-10 2002-01-17 C.M.E. Blasting & Mining Equipment Ltd. Grinding apparatus with articulated arm
US7266425B2 (en) * 2004-09-30 2007-09-04 Rockwell Automation Technologies, Inc. Systems and methods that facilitate motion control through coordinate system transformations
US7461645B2 (en) * 2005-01-28 2008-12-09 Hyper Products, Inc. Hand held disc launcher
FR2902038B1 (fr) * 2006-06-07 2009-02-27 Bouygues Construction Sa Robot de poncage de plafond
JP5817142B2 (ja) * 2011-02-22 2015-11-18 セイコーエプソン株式会社 水平多関節ロボット
JP5821210B2 (ja) * 2011-02-22 2015-11-24 セイコーエプソン株式会社 水平多関節ロボット及び水平多関節ロボットの制御方法
FR3054158B1 (fr) * 2016-07-21 2019-06-28 Comau France Machine-outil d’usinage
CN109158950A (zh) * 2018-10-29 2019-01-08 宁夏共享精密加工有限公司 一种气缸的合缸加工方法
CN112247754B (zh) * 2020-09-02 2022-04-29 苏州宁友机电科技有限公司 一种注塑机挡块制造用多角度打磨装置及其制造工艺
CN112388496B (zh) * 2020-11-26 2022-03-22 西安奕斯伟硅片技术有限公司 应用于双面抛光设备的物料管理方法、系统及存储介质
CN113510571A (zh) * 2021-07-23 2021-10-19 无锡森锞精密机械有限公司 一种基于人机协作的共享控制遥控零件磨削加工机器人
US12048983B2 (en) 2021-10-27 2024-07-30 Fives Landis Corp. Grinding machine centering gauge
CA3236220A1 (en) * 2021-10-27 2023-05-04 Timothy W. Hykes Grinding machine centering gauge
CN113798978B (zh) * 2021-11-03 2022-07-26 扬州朗玛科技有限公司 一种钳体双面打磨用加工装置
US11874683B1 (en) 2021-11-04 2024-01-16 United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Hand controller
US20240181591A1 (en) * 2022-12-06 2024-06-06 Domaille Engineering, Llc Optical fiber polishing arm positioning assembly
CN116748961B (zh) * 2023-06-07 2024-05-10 中国长江电力股份有限公司 一种用于镜板的超声波研磨装置及方法

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FR2055862A5 (de) * 1969-08-01 1971-05-14 Gazuit Georges
FR2360117A1 (fr) * 1976-07-26 1978-02-24 Bendix Corp Procede et appareil de production d'un programme de commande pour organe a positionner
GB2072880A (en) * 1977-04-01 1981-10-07 Leisure Time Ltd Movement Transducer for Automatic Machines

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EP0142072A3 (de) * 1983-11-15 1986-12-30 Aida Engineering Ltd. Schleifroboter

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
FR2055862A5 (de) * 1969-08-01 1971-05-14 Gazuit Georges
FR2360117A1 (fr) * 1976-07-26 1978-02-24 Bendix Corp Procede et appareil de production d'un programme de commande pour organe a positionner
GB2072880A (en) * 1977-04-01 1981-10-07 Leisure Time Ltd Movement Transducer for Automatic Machines

Also Published As

Publication number Publication date
US4706004A (en) 1987-11-10
EP0145007A2 (de) 1985-06-19
KR880002336B1 (ko) 1988-10-26
AU3583084A (en) 1985-06-13
KR850004412A (ko) 1985-07-15

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Inventor name: KOMATSU, ISAMU

Inventor name: SERIZAWA, KENKICKI